46-66071: T_Main/BRI_Main %%% VERSION: 1 LANGUAGE: ENGLISH %%% MODULE BRI_Main !****************************************************************** !****************************************************************** !* * !* R e m o t e - S c h w e i z e l l e * !* ----------------------------------------* !* * !

!* Customer : brose Fahrzeugteile GmbH & Co.KG * !* Roboter Nr. : IRB 66-54172 / 76-51379 * !* Software : RobotWare OS 5.07.01.02 / M2004 * !* Autor : A. GRAN * !* Company : brose Fahrzeugteile GmbH & Co.KG * !* Department : ZFT-BT * !* Telephone : +49 (9561) 21 2859 * !* * !* Version : 1.0 * !* Created : 13.11.2006 * !* Modified : 13.11.2006 by: A. Gran * !* * !****************************************************************** !****************************************************************** ! !********************************************************** !* Lokale Konstanten * !********************************************************** LOCAL CONST num CHECK_TCP:=1; LOCAL CONST num MAN_REINIGEN:=2; LOCAL CONST num START_PRODUKTION:=3; LOCAL CONST num INDEX_REINIGEN:=9; ! !********************************************************** !* numerische Variablen und Speichernde * !********************************************************** ! !*********************************************************** !* Interrupt * !*********************************************************** !Interrupt fr Halt nach Takt VAR intnum irHaltTakt; ! !********************************************************** !* Lokale Variablen * !********************************************************** LOCAL VAR bool bStartProd:=FALSE; LOCAL VAR bool bStartOK:=FALSE; LOCAL VAR string stMachine:="Remoteschweianlage X7"; LOCAL VAR string stAddData_1:=""; LOCAL VAR string stAddData_2:=""; LOCAL VAR string stAddData_3:=""; LOCAL VAR string stAuthor:="ZFT-BT / A. GRAN"; LOCAL VAR string stVersion:="19.02.2007"; LOCAL VAR bool bShowInfo:=TRUE; LOCAL VAR string stDebugMSG{6}; ! !********************************************************** !* boolsche Variablen * !********************************************************** PERS bool bProgEnde:=FALSE; PERS bool BlockWeldingInt{4}:=[TRUE,TRUE,FALSE,FALSE]; PERS bool bSyncMode:=FALSE; PERS bool bVC:=FALSE; ! !********************************************************** ! numerische Variablen und Speichernde fr Taktzeit * !********************************************************** VAR clock clStation_1; VAR clock clStation_2; VAR clock clStation_3; VAR clock clStation_4; VAR clock clStation_5; ! !********************************************************** ! GpProcSH * !********************************************************** CONST num MM_NoAction:=0; CONST num MM_ReadCode:=100;!1; CONST num MM_STN_Change:=2; CONST num MM_ActivateSTN:=3; CONST num MM_DeactivateSTN:=4; CONST num MM_Init:=5; CONST num MM_HomePos:=10; CONST num MM_SafePos:=11; CONST num MM_ServicePos:=12; CONST num MM_CheckTCP:=13; CONST num MM_Cleaning:=14; CONST num MM_ChangeClean:=15; CONST num MM_Lasertest:=16; CONST num MM_Focustest:=17; CONST num MM_Weldtest:=18; Page 1 of 11

46-66071: T_Main/BRI_Main CONST num MM_ToolChange:=20; CONST num MM_Tool_InOut:=21; CONST num MM_Production:=30; CONST num MM_ProdWithQuitt:=1;!31; CONST num MM_SyncEndCommand:=32; CONST num ML_PRC_EXITMENU:=40; CONST num ML_PRC_EXITPROD:=41; ! !********************************************************** ! GpSyncSH * !********************************************************** PERS tasks syncTask{10}:=[["T_MAIN"],["T_ROB1"],["T_ROB2"],[""],[""],[""],[""],[""],[""],[""]]; PERS tasks sync_all_tasks{10}:=[["T_MAIN"],["T_ROB1"],["T_ROB2"],[""],[""],[""],[""],[""],[""],[""]]; PERS tasks sync_rob_tasks{10}:=[["T_ROB1"],["T_ROB2"],[""],[""],[""],[""],[""],[""],[""],[""]]; PERS tasks sync_mec_tasks{10}:=[["T_ROB1"],["T_ROB2"],[""],[""],[""],[""],[""],[""],[""],[""]]; PERS tasks sync_main_rob1{10}:=[["T_MAIN"],["T_ROB1"],[""],[""],[""],[""],[""],[""],[""],[""]]; PERS tasks sync_main_rob2{10}:=[["T_MAIN"],["T_ROB2"],[""],[""],[""],[""],[""],[""],[""],[""]]; PERS tasks sync_main_rob3{10}:=[["T_MAIN"],["T_ROB1"],[""],[""],[""],[""],[""],[""],[""],[""]]; PERS tasks sync_main_rob4{10}:=[["T_MAIN"],["T_ROB1"],[""],[""],[""],[""],[""],[""],[""],[""]]; PERS tasks sync_main_rob5{10}:=[["T_MAIN"],["T_ROB1"],[""],[""],[""],[""],[""],[""],[""],[""]]; PERS tasks sync_main_pos1{10}:=[["T_MAIN"],["T_ROB1"],[""],[""],[""],[""],[""],[""],[""],[""]]; !PERS tasks sync_ROB1_POS1{10}:=[["T_ROB1"],["T_POS1"],[""],[""],[""],[""],[""],[""],[""],[""]]; !PERS tasks sync_ROB1_ROB2{10}:=[["T_ROB1"],["T_ROB2"],[""],[""],[""],[""],[""],[""],[""],[""]]; !PERS tasks sync_ROB1_ROB3{10}:=[["T_ROB1"],["T_ROB3"],[""],[""],[""],[""],[""],[""],[""],[""]]; VAR syncident syncCommandStart; VAR syncident syncCommandActiv; VAR syncident syncCommandEnd; VAR syncident sync_point3; VAR syncident sync_point4; VAR syncident sync_point5; VAR syncident sync_point6; VAR syncident sync_point7; VAR syncident sync_point8; VAR syncident sync_point9; VAR syncident sync_point10; VAR syncident sync_point11; VAR syncident sync_point12; VAR syncident sync_point13; VAR syncident sync_point14; VAR syncident sync_point15; VAR syncident sync_point16; VAR syncident sync_point17; VAR syncident sync_point18; VAR syncident sync_point19; VAR syncident sync_point20; VAR bool bTask1_active; VAR bool bTask2_active; VAR bool bTask3_active; VAR bool bTask4_active; VAR bool bTask5_active; !********************************************************** !Copy EPS Files to HOME directory * !********************************************************** CONST string stEPSCalInternal:="INTERNAL:/OPTIONS/PSC/psc_calib_"; CONST string stEPSCalHome:="HOME:/SafetyBCK/psc_calib_"; CONST string stEPSInternal:="INTERNAL:/OPTIONS/PSC/psc_user_"; CONST string stEPSHome:="HOME:/SafetyBCK/psc_user_"; ! Filezie of an empty EPS user_config CONST num nEPSFilesize:=230; !********************************************************** !* Prozedur PowerOn * !* * !* Description: * !* * !* Neustart der IRC 5 an SPS melden und Rckmeldung * !* abwarten wird in haupt und als Ereigniss Netzein * !* gestartet * !* * !* Date: Version: Programmer: Reason: * !* 28.06.2005 1.0 A. Gran created * !********************************************************** PROC evPowerOn() ! ! Programm luft im "Virtual Controller" bVC:=StrMap(GetSysInfo(\CtrlId),STR_LOWER, STR_UPPER)="VC"; ! ! Steuerung wurde neu gestartet Set doRestartDone; ! !Warten auf Rckmeldung SPS Neustart erkannt IF bVC=FALSE WaitDI diRestartAck,high; ! ! Neustart rcksetzen Reset doRestartDone; CopyEPS_Config; ENDPROC !********************************************************** !* Prozedur evStart * !* * !* Das Event "Start" lst diese Routine aus * !* * Page 2 of 11

46-66071: T_Main/BRI_Main !* Date: Version: Programmer: Reason: * !* 23.05.2007 1.0 A. Gran created * !********************************************************** PROC evStart() ENDPROC !********************************************************** !* Prozedur evStop * !* * !* Das Event "Stop" lst diese Routine aus * !* * !* Date: Version: Programmer: Reason: * !* 23.05.2007 1.0 A. Gran created * !********************************************************** PROC evStop() ENDPROC !********************************************************** !* Prozedur InitCell * !* * !* Description: * !* * !* Definiertes setzen aller Signale und Merker * !* * !* Date: Version: Programmer: Reason: * !* 13.11.2006 1.0 A. Gran created * !********************************************************** PROC InitCell() ! ! Setzen der Variablen evPowerOn; bBlockTask:=FALSE; bProgEnde:=FALSE; bSyncMode:=FALSE; bStartOK:=FALSE; bTask1_active:=FALSE; bTask2_active:=FALSE; bTask3_active:=FALSE; bTask4_active:=FALSE; bTask5_active:=FALSE; ! ! Definiertes Setzen der Ausgnge QuittStart; SetGO sgoCommand,0; SetGO sgoSTN,0; SetGO sgoProg_1,0; SetGO sgoProg_2,0; SetGO sgoProg_3,0; SetGO sgoProg_4,0; SetGO sgoProg_5,0; SetGO sgoSyncEndComand,0; SetDO soStartCommand,0; ! ! Initialisiere alle Tasks StartCommand MM_Init; ENDPROC !********************************************************** !* Prozedur QuittStart * !* * !* Description: * !* * !* Diese Routine besttigt den zyklus Start an die SPS * !* * !* Date: Version: Programmer: Reason: * !* 26.11.2004 1.0 R. Kunkel created * !* 03.11.2006 2.0 A. Gran Brose * !********************************************************** PROC QuittStart( \num inIndex) VAR num nIndex; ! IF NOT Present(inIndex) THEN nIndex:=0; ELSE nIndex:=inIndex; ENDIF TEST nIndex ! Programmstart 1 fertig? CASE 1: Set doProgEnd_1; WaitMsgDI diProgStart_1,low,"muiStartLow"; Reset doProgEnd_1; bTask1_active:=FALSE; ! Programmstart 2 fertig? CASE 2: Set doProgEnd_2; WaitMsgDI diProgStart_2,low,"muiStartLow"; Reset doProgEnd_2; bTask2_active:=FALSE; ! Programmstart 3 fertig? CASE 3: Set doProgEnd_3; WaitMsgDI diProgStart_3,low,"muiStartLow"; Reset doProgEnd_3; bTask3_active:=FALSE; ! Programmstart 4 fertig? CASE 4: Page 3 of 11

46-66071: T_Main/BRI_Main Set doProgEnd_4; WaitMsgDI diProgStart_4,low,"muiStartLow"; Reset doProgEnd_4; bTask4_active:=FALSE; ! Programmstart 5 fertig? CASE 5: Set doProgEnd_5; WaitMsgDI diProgStart_5,low,"muiStartLow"; Reset doProgEnd_5; bTask5_active:=FALSE; ! Unterprogrammstart 1 fertig? CASE 11: Set doSubEnd_1; WaitMsgDI diSubStart_1,low,"muiStartLow"; Reset doSubEnd_1; ! Unterprogrammstart 2 fertig? CASE 12: Set doSubEnd_2; WaitMsgDI diSubStart_2,low,"muiStartSubLow"; Reset doSubEnd_2; ! Unterprogrammstart 3 fertig? CASE 13: Set doSubEnd_3; WaitMsgDI diSubStart_3,low,"muiStartSubLow"; Reset doSubEnd_3; ! Unterprogrammstart 4 fertig? CASE 14: Set doSubEnd_4; WaitMsgDI diSubStart_4,low,"muiStartSubLow"; Reset doSubEnd_4; ! Unterprogrammstart 5 fertig? CASE 15: Set doSubEnd_5; WaitMsgDI diSubStart_5,low,"muiStartSubLow"; Reset doSubEnd_5; ! Unterprogrammstart 6 fertig? CASE 16: Set doSubEnd_6; WaitMsgDI diSubStart_6,low,"muiStartSubLow"; Reset doSubEnd_6; ! Unterprogrammstart 7 fertig? CASE 17: Set doSubEnd_7; WaitMsgDI diSubStart_7,low,"muiStartSubLow"; Reset doSubEnd_7; ! Unterprogrammstart 8 fertig? CASE 18: Set doSubEnd_8; WaitMsgDI diSubStart_8,low,"muiStartSubLow"; Reset doSubEnd_8; ! Unterprogrammstart 9 fertig? CASE 19: Set doSubEnd_9; WaitMsgDI diSubStart_9,low,"muiStartSubLow"; Reset doSubEnd_9; ! Unterprogrammstart 10 fertig? CASE 20: Set doSubEnd_10; WaitMsgDI diSubStart_10,low,"muiStartSubLow"; Reset doSubEnd_10; ! Unterprogrammstart 11 fertig? CASE 21: Set doSubEnd_11; WaitMsgDI diSubStart_11,low,"muiStartSubLow"; Reset doSubEnd_11; DEFAULT: Set doProgEnd_1; Set doProgEnd_2; Set doProgEnd_3; Set doProgEnd_4; Set doProgEnd_5; Set doSubEnd_1; Set doSubEnd_2; Set doSubEnd_3; Set doSubEnd_4; Set doSubEnd_5; Set doSubEnd_6; Set doSubEnd_7; Set doSubEnd_8; Set doSubEnd_9; Set doSubEnd_10; Set doSubEnd_11; ! !Warten auf Besttigung von SPS WaitMsgGI giProgStart,0,"muiStartLow"; WaitMsgGI giSubStart,0,"muiStartSubLow"; Reset doProgEnd_1; Reset doProgEnd_2; Reset doProgEnd_3; Reset doProgEnd_4; Reset doProgEnd_5; Reset doSubEnd_1; Reset doSubEnd_2; Reset doSubEnd_3; Reset doSubEnd_4; Reset doSubEnd_5; Reset doSubEnd_6; Reset doSubEnd_7; Reset doSubEnd_8; Reset doSubEnd_9; Reset doSubEnd_10; Reset doSubEnd_11; ENDTEST ENDPROC !********************************************************** Page 4 of 11

46-66071: T_Main/BRI_Main !* Prozedur StartCommand * !* * !* Description: * !* * !* Diese Routine startet sendet den Auftrag an alle * !* TASKS * !* * !* Date: Version: Programmer: Reason: * !* 18.10.2004 1.0 R. Kunkel created * !* 03.11.2006 2.0 A. Gran Brose * !********************************************************** PROC StartCommand( num inAction \num inTask \num inSTN, \num inProg_1, \num inProg_2, \num inProg_3, \num inProg_4, \num inProg_5) VAR num nTask; VAR num nSTN; VAR num nProg_1; VAR num nProg_2; VAR num nProg_3; VAR num nProg_4; VAR num nProg_5; IF NOT Present(inTask) THEN nTask:=99; ELSE nTask:=inTask; ENDIF IF NOT Present(inProg_1) THEN nProg_1:=0; ELSE nProg_1:=inProg_1; ENDIF IF NOT Present(inProg_2) THEN nProg_2:=0; ELSE nProg_2:=inProg_2; ENDIF IF NOT Present(inProg_3) THEN nProg_3:=0; ELSE nProg_3:=inProg_3; ENDIF IF NOT Present(inProg_4) THEN nProg_4:=0; ELSE nProg_4:=inProg_4; ENDIF IF NOT Present(inProg_5) THEN nProg_5:=0; ELSE nProg_5:=inProg_5; ENDIF IF NOT Present(inSTN) THEN nSTN:=0; ELSE nSTN:=inSTN; ENDIF TEST nTask CASE 1: syncTask:=sync_main_rob1; CASE 2: syncTask:=sync_main_rob2; CASE 3: syncTask:=sync_main_rob3; CASE 4: syncTask:=sync_main_rob4; CASE 5: syncTask:=sync_main_pos1; DEFAULT: syncTask:=sync_all_tasks; ENDTEST ! ! Tasks starten IF (inAction<>MM_SyncEndCommand) and (inAction<>MM_noAction) THEN SetGO sgoCommand,inAction; SetGO sgoTask,nTask; SetGO sgoSTN,nSTN; SetGO sgoProg_1,nProg_1; SetGO sgoProg_2,nProg_2; SetGO sgoProg_3,nProg_3; SetGO sgoProg_4,nProg_4; SetGO sgoProg_5,nProg_5; SetDO soStartCommand,1; WaitSyncTask syncCommandStart, syncTask; !Juergen ENDIF ! ! Warten auf Beendigung SetDO soStartCommand,0; SetGO sgoCommand,0; SetGO sgoTask,0; SetGO sgoSTN,0; SetGO sgoProg_1,0; SetGO sgoProg_2,0; SetGO sgoProg_3,0; Page 5 of 11

46-66071: T_Main/BRI_Main SetGO sgoProg_4,0; SetGO sgoProg_5,0; bShowInfo:=TRUE; if inAction<>MM_ProdWithQuitt then WaitSyncTask syncCommandEnd,syncTask; SetGO sgoSyncEndComand,0; endif IF inAction=MM_noAction WaitTime 0.02; ENDPROC

!Juergen

!********************************************************** !* Prozedur Main * !* * !* Description: * !* * !* * !* * !* Date: Version: Programmer: Reason: * !* 03.11.2006 1.0 A. Gran Brose * !********************************************************** PROC Main() VAR num nAction; VAR num nTask; VAR num nSTN; VAR num nProg_1; VAR num nProg_2; VAR num nProg_3; VAR num nProg_4; VAR num nProg_5; ! ! Aktuelle Sprache setzen InitLanguage "DE"; ! ! Version des Roboterprogramms stVersion:="24.10.2008"; ! ! Startwerte setzen InitCell; ! ! SPS start? bShowInfo:=True; WHILE TRUE DO WHILE not PLC_Command(nAction,nTask,nSTN,nProg_1,nProg_2,nProg_3,nProg_4,nProg_5) DO ProgInfo bShowInfo,stMachine,stAddData_1,stAddData_2,stAddData_3,stAuthor,stVersion; ENDWHILE ! ! Aktion ausfhren TEST nAction ! Keine Aktion CASE MM_NoAction: Waittime 0.01; ! Stationswechsel CASE MM_STN_Change: StartCommand MM_NoAction; ! Aktiviere Stationstisch CASE MM_ActivateSTN: StartCommand MM_NoAction; ! Deaktiviere Stationstisch CASE MM_DeactivateSTN: StartCommand MM_NoAction; ! Fahre nach HomePos CASE MM_HomePos: StartCommand MM_HomePos; ! Fahre nach SafePos CASE MM_SafePos: StartCommand MM_NoAction; ! Fahre nach ServicePos CASE MM_ServicePos: StartCommand MM_ServicePos\inTask:=nTask; ! Warten auf fertig QuittStart\inIndex:=nProg_1; ! Laser Leistungstest CASE MM_Lasertest: StartCommand MM_Lasertest\inTask:=nTask; ! Warten auf fertig QuittStart\inIndex:=nProg_1; ! Fokus Laser berprfen CASE MM_Focustest: StartCommand MM_Focustest\inTask:=nTask; ! Warten auf fertig QuittStart\inIndex:=nProg_1; ! Schweiversuch durchfhren CASE MM_Weldtest: StartCommand MM_Weldtest\inTask:=nTask; ! Warten auf fertig QuittStart\inIndex:=nProg_1; ! TCP im BullsEye prfen CASE MM_CheckTCP: StartCommand MM_NoAction; ! Brennerreinigen CASE MM_Cleaning: StartCommand MM_NoAction; ! Stationswechsel und dabei Brenner reinigen CASE MM_ChangeClean: StartCommand MM_NoAction; ! Umrsten CASE MM_ToolChange: StartCommand MM_ToolChange\inTask:=nTask; ! Warten auf fertig QuittStart\inIndex:=nProg_1; ! Werkzeug auf Wagen ablegen oder holen CASE MM_Tool_InOut: StartCommand MM_Tool_InOut\inTask:=nTask; ! Warten auf fertig QuittStart\inIndex:=nProg_1; ! Produktion (Zelle hat einen Ablauf) CASE MM_Production: StartCommand MM_NoAction; ! Produktion mit SPS Quittierung fr jeden Roboter CASE MM_ProdWithQuitt: CycletimeStart(nTask); Page 6 of 11

46-66071: T_Main/BRI_Main ! Task starten StartCommand MM_ProdWithQuitt\inTask:=nTask\inProg_1:=nProg_1\inProg_2:=nProg_2; ! End-Syncronisierung fr Action "MM_ProdWithQuitt" CASE MM_SyncEndCommand: StartCommand MM_SyncEndCommand\inTask:=nTask; ! Warten auf fertig QuittStart\inIndex:=nTask; !Rcksetzten aller Signale ResetCycle; ! Stoppe Zeit fr "Taktzeitanzeige" CycletimeEnd(nTask); DEFAULT: nMsgAnswere := MessageDlg("!!! Error !!!", "muiMultiMove"); Stop; ENDTEST WaitTime 0.01; ENDWHILE ! ERROR IF ERRNO=ERR_REFUNKPRC THEN EXIT; ENDIF nMsgAnswere := MessageDlg("!!! Error !!!", "muiProgram"); Stop; ENDPROC !********************************************************** !* Prozedur CycletimeStart n * !* * !* Description: * !* * !* Start zum Messen der Zykluszeit auf ... * !* * !* Date: Version: Programmer: Reason: * !* 19.02.2004 1.0 R. Kunkel created * !* 03.11.2006 2.0 A. Gran Brose * !********************************************************** PROC CycletimeStart(num inTask) IF inTask<1 OR inTask>5 RETURN; TEST inTask CASE 1: ClkReset clStation_1; ClkStart clStation_1; CASE 2: ClkReset clStation_2; ClkStart clStation_2; CASE 3: ClkReset clStation_3; ClkStart clStation_3; CASE 4: ClkReset clStation_4; ClkStart clStation_4; CASE 5: ClkReset clStation_5; ClkStart clStation_5; ENDTEST ENDPROC !********************************************************** !* Prozedur CycletimeEnd n * !* * !* Description: * !* * !* Ende der Zykluszeit erfassen * !* * !* Date: Version: Programmer: Reason: * !* 19.02.2004 1.0 R. Kunkel created * !* 16.07.2007 2.0 A. Gran Brose * !********************************************************** PROC CycletimeEnd(num inTask) VAR num nCycletime; VAR num nMinutes; VAR num nSeconds; IF inTask<1 OR inTask>5 RETURN; TEST inTask CASE 1: ClkStop clStation_1; nCycletime:=ClkRead(clStation_1); nCycletime:=Round(nCycletime\Dec:=0); nMinutes:=Round(nCycletime/60*100\Dec:=0); nMinutes:=Trunc(nMinutes/100\Dec:=0); IF nMinutes>0 THEN nSeconds:=nCycletime-nMinutes*60; stAddData_2:=GetMUI_Text("muiAddData_2")+ValToStr(nMinutes)+" min "+ValToStr(nSeconds)+" sec"; ELSE nCycletime:=ClkRead(clStation_1); nCycletime:=Round(nCycletime\Dec:=2); stAddData_2:=GetMUI_Text("muiAddData_2")+ValToStr(nCycletime)+" sec"; ENDIF CASE 2: ClkStop clStation_2; nCycletime:=ClkRead(clStation_2); nCycletime:=Round(nCycletime\Dec:=0); Page 7 of 11

46-66071: T_Main/BRI_Main nMinutes:=Round(nCycletime/60*100\Dec:=0); nMinutes:=Trunc(nMinutes/100\Dec:=0); IF nMinutes>0 THEN nSeconds:=nCycletime-nMinutes*60; stAddData_3:=GetMUI_Text("muiAddData_3")+ValToStr(nMinutes)+" min "+ValToStr(nSeconds)+" sec"; ELSE nCycletime:=ClkRead(clStation_2); nCycletime:=Round(nCycletime\Dec:=2); stAddData_3:=GetMUI_Text("muiAddData_3")+ValToStr(nCycletime)+" sec"; ENDIF CASE 3: ClkStop clStation_3; nCycletime:=ClkRead(clStation_3); nCycletime:=Round(nCycletime\Dec:=0); nMinutes:=Round(nCycletime/60*100\Dec:=0); nMinutes:=Trunc(nMinutes/100\Dec:=0); IF nMinutes>0 THEN nSeconds:=nCycletime-nMinutes*60; !stAddData_3:=GetMUI_Text("muiAddData_3")+ValToStr(nMinutes)+" min "+ValToStr(nSeconds)+" sec"; ELSE nCycletime:=ClkRead(clStation_3); nCycletime:=Round(nCycletime\Dec:=2); !stAddData_3:=GetMUI_Text("muiAddData_3")+ValToStr(nCycletime)+" sec"; ENDIF CASE 4: ClkStop clStation_4; nCycletime:=ClkRead(clStation_4); nCycletime:=Round(nCycletime\Dec:=0); nMinutes:=Round(nCycletime/60*100\Dec:=0); nMinutes:=Trunc(nMinutes/100\Dec:=0); IF nMinutes>0 THEN nSeconds:=nCycletime-nMinutes*60; !stAddData_3:=GetMUI_Text("muiAddData_3")+ValToStr(nMinutes)+" min "+ValToStr(nSeconds)+" sec"; ELSE nCycletime:=ClkRead(clStation_4); nCycletime:=Round(nCycletime\Dec:=2); !stAddData_3:=GetMUI_Text("muiAddData_3")+ValToStr(nCycletime)+" sec"; ENDIF CASE 5: ClkStop clStation_5; nCycletime:=ClkRead(clStation_5); nCycletime:=Round(nCycletime\Dec:=0); nMinutes:=Round(nCycletime/60*100\Dec:=0); nMinutes:=Trunc(nMinutes/100\Dec:=0); IF nMinutes>0 THEN nSeconds:=nCycletime-nMinutes*60; !stAddData_3:=GetMUI_Text("muiAddData_3")+ValToStr(nMinutes)+" min "+ValToStr(nSeconds)+" sec"; ELSE nCycletime:=ClkRead(clStation_5); nCycletime:=Round(nCycletime\Dec:=2); !stAddData_3:=GetMUI_Text("muiAddData_3")+ValToStr(nCycletime)+" sec"; ENDIF ENDTEST ENDPROC !********************************************************** !* Prozedur ResetCycle * !* * !* Description: * !* * !* Diese Routine initialisiert alle Signale im laufenden * !* Zyklus * !* * !* Date: Version: Programmer: Reason: * !* 30.11.2004 1.0 R. Kunkel created * !* 03.11.2006 2.0 A. Gran Brose * !********************************************************** PROC ResetCycle() bStartProd:=FALSE; bSyncMode:=FALSE; bShowInfo:=TRUE; ERROR RAISE; ENDPROC !********************************************************** !* Funktion PLC_Command * !* * !* Description: * !* * !* Diese Funktion liest den Auftrag von der SPS * !* * !* Date: Version: Programmer: Reason: * !* 18.10.2004 1.0 R. Kunkel created * !* 03.11.2006 2.0 A. Gran Brose * !********************************************************** FUNC bool PLC_Command( VAR num inAction, VAR num inTask, VAR num inSTN, VAR num inProg_1, VAR num inProg_2, VAR num inProg_3, VAR num inProg_4, Page 8 of 11

46-66071: T_Main/BRI_Main VAR num inProg_5) VAR num nSTN; VAR bool bReturn; ! !Einlesen der Tischseite vor Roboter nSTN:=ActualSTN(); bReturn:=FALSE; ! ! SPS-Starts auswerten IF GOutput(sgoSyncEndComand) <> 0 THEN ! Task mchte End-Syncronisierung inTask:=GOutput(sgoSyncEndComand); inAction:=MM_SyncEndCommand; bSyncMode:=FALSE; bReturn:=TRUE; ! Programmstart ELSEIF diProgStart_1=high AND (bTask1_active=FALSE) THEN inTask:=1; inAction:=MM_ProdWithQuitt; inProg_1:=giProgNo_1; inProg_2:=giProgNo_2; bSyncMode:=FALSE; bReturn:=TRUE; SetDO soIRB1_Started, 1; ! Programmstart ELSEIF diProgStart_2=high AND (bTask2_active=FALSE) THEN inTask:=2; inAction:=MM_ProdWithQuitt; inProg_1:=giProgNo_3; inProg_2:=giProgNo_4; bSyncMode:=FALSE; bReturn:=TRUE; SetDO soIRB2_Started, 1; ! Programmstart ELSEIF diProgStart_3=high AND (bTask3_active=FALSE) THEN inTask:=0; inAction:=MM_noAction; inProg_1:=giProgNo_3; inProg_2:=giProgNo_3 + 1; bSyncMode:=FALSE; bReturn:=TRUE; ! Programmstart ELSEIF diProgStart_4=high AND (bTask4_active=FALSE) THEN inTask:=0; inAction:=MM_noAction; inProg_1:=giProgNo_4; inProg_2:=giProgNo_4 + 1; bSyncMode:=FALSE; bReturn:=TRUE; ! Programmstart ELSEIF diProgStart_5=high AND (bTask5_active=FALSE) THEN inTask:=0; inAction:=MM_noAction; inProg_1:=giProgNo_5; inProg_2:=giProgNo_5 + 1; bSyncMode:=FALSE; bReturn:=TRUE; ! Unterprogrammstart 1: ELSEIF diSubStart_1=high THEN inTask:=1; inAction:=MM_noAction; bSyncMode:=FALSE; inProg_1:=11; bReturn:=TRUE; ! Unterprogrammstart 2: ELSEIF diSubStart_2=high THEN inTask:=2; inAction:=MM_noAction; bSyncMode:=FALSE; inProg_1:=12; bReturn:=TRUE; ! Unterprogrammstart 3: ELSEIF diSubStart_3=high THEN inTask:=1; inAction:=MM_noAction; bSyncMode:=FALSE; inProg_1:=13; bReturn:=TRUE; ! Unterprogrammstart 4: ELSEIF diSubStart_4=high THEN inTask:=1; inAction:=MM_noAction; bSyncMode:=FALSE; inProg_1:=14; bReturn:=TRUE; ! Unterprogrammstart 5: ELSEIF diSubStart_5=high THEN inTask:=1; inAction:=MM_noAction; bSyncMode:=FALSE; inProg_1:=15; bReturn:=TRUE; ! Unterprogrammstart 6: ELSEIF diSubStart_6=high THEN inTask:=1; inAction:=MM_noAction; bSyncMode:=FALSE; inProg_1:=16; bReturn:=TRUE; ! Unterprogrammstart 7: ELSEIF diSubStart_7=high THEN inTask:=2; inAction:=MM_noAction; bSyncMode:=FALSE; inProg_1:=17; bReturn:=TRUE; ! Unterprogrammstart 8: ELSEIF diSubStart_8=high THEN Page 9 of 11

46-66071: T_Main/BRI_Main inTask:=1; inAction:=MM_noAction; bSyncMode:=FALSE; inProg_1:=18; bReturn:=TRUE; ! Unterprogrammstart 9: ELSEIF diSubStart_9=high THEN inTask:=2; inAction:=MM_noAction; bSyncMode:=FALSE; inProg_1:=19; bReturn:=TRUE; ! Unterprogrammstart 10 ELSEIF diSubStart_10=high THEN inTask:=0; inAction:=MM_noAction; bSyncMode:=FALSE; inProg_1:=20; bReturn:=TRUE; ! Unterprogrammstart 11 ELSEIF diSubStart_11=high THEN inTask:=0; inAction:=MM_noAction; bSyncMode:=FALSE; inProg_1:=21; bReturn:=TRUE; ELSE inTask:=0; inSTN:=0; inAction:=MM_NoAction; bReturn:=FALSE; WaitTime 0.01; ENDIF ! ! Welche Task wurde aktiviert IF (inAction=MM_ProdWithQuitt) THEN TEST inTask CASE 1: bTask1_active:=True; CASE 2: bTask2_active:=True; CASE 3: bTask3_active:=True; CASE 4: bTask4_active:=True; CASE 5: bTask5_active:=True; ENDTEST ENDIF RETURN bReturn; ENDFUNC !********************************************************** !* Funktion ActualSTN * !* * !* Description: * !* * !* Diese Funktion liefert die Seite zurck die aktuell * !* vor den Roboteren steht * !* * !* Date: Version: Programmer: Reason: * !* 18.10.2004 1.0 R. Kunkel created * !* 03.11.2006 2.0 A. Gran Brose * !********************************************************** FUNC num ActualSTN() !IF diLS_1_INPOS=high AND diLS_2_INPOS=low RETURN 1; !IF diLS_2_INPOS=high AND diLS_1_INPOS=low RETURN 2; RETURN 0; ENDFUNC !********************************************************** !* Funktion Deplete * !* * !* Diese Funktion berprft ob die Produktion auf einer * !* Tischseite abgewhlt ist * !* * !* Date: Version: Programmer: Reason: * !* 15.01.2004 1.0 R. Kunkel created * !********************************************************** FUNC bool Deplete() !IF diLS_1_INPOS=high AND diLS_2_INPOS=low AND diLeerfahrtS1=low RETURN FALSE; !IF diLS_1_INPOS=low AND diLS_2_INPOS=high AND diLeerfahrtS2=low RETURN FALSE; RETURN TRUE; ENDFUNC !********************************************************** !* CopyEPS_Config * !* * !* This routine copies the EPS files into !* the home directory. You can add this to an !* Event routine for PowerOn event * !* * !* Date: Version: Programmer: Reason: * !* 2008-07-04 1.0 K.Behnisch created * !********************************************************** PROC CopyEPS_Config() VAR VAR VAR VAR string string string string stEPSCalFileInt; stEPSFileInt; stEPSCalFileHome; stEPSFileHome;

* *

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46-66071: T_Main/BRI_Main ! create folder MakeDir "HOME:/SafetyBCK"; FOR i FROM 1 TO 4 DO ! Check all files stEPSCalFileHome:= stEPSCalHome+ ValToStr(i)+ ".xml"; stEPSCalFileInt:= stEPSCalInternal+ ValToStr(i)+ ".xml"; stEPSFileHome:= stEPSHome+ ValToStr(i)+ ".sxml"; stEPSFileInt:= stEPSInternal+ ValToStr(i)+ ".sxml"; ! If file has a config then safe to Home IF FileSize(stEPSFileInt) > nEPSFilesize THEN IF IsFile(stEPSFileHome) THEN ! delete existing file RemoveFile stEPSFileHome; ENDIF IF IsFile(stEPSCalFileHome) then ! delete existing file RemoveFile stEPSCalFileHome; ENDIF ! Copy actual config CopyFile stEPSFileInt, stEPSFileHome; CopyFile stEPSCalFileInt, stEPSCalFileHome; ENDIF ENDFOR ERROR IF ERRNO = ERR_FILEEXIST THEN !Do Nothing ELSEIF ERRNO = ERR_FILEACC then TRYNEXT; ENDIF ENDPROC ENDMODULE

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